Product unloading device and product unloading method

Abstract

To achieve smooth take-out of a product by a product carrying-out device while suppressing slip-in of the product.SOLUTION: A product carrying-out device 1 includes: a station 10 for supporting a table 20 conveyed from a laser beam machine; a carrying-out unit 40 for taking-in a product P from the table 20 supported on the station 10, and carrying-out the product P to an accumulation position; presser units 30a and 30b for pressing a remaining material S; and a control device 60 for controlling the presser units 30a and 30b. The control device 60 acquires the position of the product P, the position of a pressing protrusion 200 which is provided on the remaining material S in the periphery of the product and holds the product P, and the size of the product P, calculates the presser position where the presser units 30a and 30b press the remaining material S on the basis of the acquired information, and controls the presser units 30a and 30b so that the presser units 30a and 30b press the remaining material S at the presser position when the carrying-out unit 40 takes out the product P.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a product unloading device and a product unloading method. [Background technology]

[0002] A product delivery device is known that removes a product separated from a workpiece by a laser processing machine that cuts the workpiece and delivers the product. Patent Document 1 discloses a laser cutting system that uses a laser beam to cut a portion of the workpiece to form a product that can be separated from the workpiece. The laser cutting system includes a fork unit that lifts the workpiece from its underside and a workpiece holding unit that holds the end of the workpiece. The laser cutting system also includes a press unit that presses the product in the workpiece against the fork unit when the fork unit moves away from the workpiece in the vertical direction, and that picks up and transports the product remaining on the fork unit.

[0003] Patent Documents 2 and 3 disclose a method of holding down the side edges of a copper-clad laminate when lifting a press plate by suction using a suction conveying means, which ensures that the press plate can be separated reliably from the copper-clad laminate underneath.

[0004] However, due to factors such as uneven workpiece support height caused by wear on the skid that supports the workpiece, thermal deformation of the remnant material, and vibration during table transport, the product may end up slipping under the remnant material. As a result, when the product discharge device lifts the product, it may also lift the remnant material along with the product, making it impossible to discharge the product. In addition, when the remnant material is lifted, it can induce a situation where other products that have not yet been discharged end up slipping under the remnant material.

[0005] Patent Document 4 discloses a method for forming a pressing projection that holds the cut surface of a product with the remaining material by utilizing the characteristics of laser cutting. According to this method, the free end of the pressing projection curves toward the product and presses against the cut surface of the product, thereby holding the product with the remaining material via the pressing projection. This prevents the product from sinking into the material. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-107285 [Patent Document 2] Japanese Patent Application Laid-Open No. 2001-260162 [Patent Document 3] Japanese Patent Application Publication No. 7-290477 [Patent Document 4] Patent No. 6524368 Summary of the Invention [Problem to be solved by the invention]

[0007] However, when products are held using the pressing protrusion as described above, there is a risk of lifting the product along with any remaining material during product removal, making it difficult to remove the product using a product removal device. Therefore, a method is desired that suppresses product slippage while enabling smooth removal of the product by a product removal device. [Means for solving the problem]

[0008] A product discharge device according to one aspect of the present invention includes a station supporting a table transported from a laser processing machine that cuts a workpiece by irradiating a laser beam onto the workpiece placed on the table, and on the table are placed products separated from the workpiece by cutting the workpiece along the product's contour and residual material that has a pressing protrusion adjacent to the product that curves toward the cut surface of the product and presses against the cut surface of the product, a discharge unit that removes the product from the table supported by the station and discharges the product to a stacking position, a pressure unit that presses down the residual material, and a control device that controls the pressure unit. The control device acquires the position of the product, the position of the pressing protrusion, and the product size, and calculates a pressure position where the pressure unit presses down the residual material based on the position of the product, the position of the pressing protrusion, and the product size, and controls the pressure unit so that the pressure unit presses down the residual material at the pressure position when the discharge unit removes the product.

[0009] With this configuration, the product separated from the workpiece by laser cutting is held in the remnant material by the pressing protrusion. This prevents the product from getting lost in the remnant material. However, because the cut surface of the product is pressed by the pressing protrusion, the remnant material holds the product with a strong force, which can cause the product to be lifted along with the remnant material when the product is removed, making it difficult to remove. In this regard, the control device calculates the pressing position based on the position of the product, the position of the pressing protrusion, and the size of the product, so it can determine the pressing position taking the pressing protrusion into account. As a result, the pressing unit can press the remnant material while taking the pressing protrusion into account, allowing the removal unit to smoothly remove the product. [Effects of the Invention]

[0010] According to one aspect of the present invention, it is possible to prevent products from slipping under and to achieve smooth removal of products by the product discharge device. [Brief explanation of the drawings]

[0011] [Figure 1]Figure 1 is a block diagram showing the configuration of a product discharge device according to the first embodiment. [Figure 2] Figure 2 shows the configuration of the product discharge device. [Figure 3A] FIG. 3A is a cross-sectional view schematically showing a first pressing unit. [Figure 3B] FIG. 3B is a cross-sectional view schematically showing the first pressing unit. [Figure 4] Figure 4 is a flowchart showing the product removal method. [Figure 5] Figure 5 is an explanatory diagram showing the relationship between the remaining material and the holding unit. [Figure 6A] Figure 6A is a diagram illustrating the pressing action. [Figure 6B] FIG. 6B is a diagram illustrating the pressing operation. [Figure 7] FIG. 7 is a block diagram showing the configuration of a product carrying-out device according to the second embodiment. [Figure 8] Figure 8 is an explanatory diagram showing the configuration of the discharge unit according to the second embodiment. [Figure 9] FIG. 9 is an explanatory diagram showing the configuration of the lower surface side of the carry-out unit. [Figure 10] Figure 10 is a flowchart showing the method for unloading the product. [Figure 11] Figure 11 is an explanatory diagram showing the relationship between the remaining material and the holding unit. [Figure 12A] FIG. 12A is a diagram illustrating the pressing operation. [Figure 12B] FIG. 12B is a diagram illustrating the pressing operation. [Figure 12C] Figure 12C is a diagram illustrating the pressing action. [Figure 13A] Figure 13A shows a modified example of the second embodiment. [Figure 13B] Figure 13B shows a modified example of the second embodiment. [Figure 14] FIG. 14 is an explanatory diagram showing the relationship between the remaining material and the pressing unit. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, a product carrying-out device and a product carrying-out method according to this embodiment will be described with reference to the drawings.

[0013] (First embodiment) 1 is a block diagram showing the configuration of a product delivery device according to the first embodiment. The product delivery device 1 according to the present embodiment includes a station 10 supporting a table 20 transported from a laser processing machine that cuts a workpiece W by irradiating a laser beam onto the workpiece W placed on the table 20, a delivery unit 40 that removes the product P from the table 20 supported by the station 10 and delivers the product P to a stacking position, and pressure units 30a and 30b that press down the pressure units 30a and 30b. The control device 60 controls the pressure units 30a and 30b. The control device 60 acquires the position of the product P, the position of the pressing protrusion 200, and the size of the product P, and calculates the pressing positions at which the pressing units 30a, 30b press the remaining material S based on the position of the product P, the position of the pressing protrusion 200, and the size of the product P, and controls the pressing units 30a, 30b so that the pressing units 30a, 30b press the remaining material S at the pressing positions when the discharge unit 40 removes the product P.

[0014] The detailed configuration of the product discharge device 1 will be described below with reference to Figures 1 and 2. Figure 2 is a diagram showing the configuration of the product discharge device. In the following description, directions are defined as a left-right direction X, a front-rear direction Y, and an up-down direction Z. The left-right direction X and the front-rear direction Y correspond to two perpendicular directions contained in a horizontal plane, and the up-down direction Z corresponds to the vertical direction. These directions are used merely for convenience in describing this embodiment, and are not intended to limit the manner of use of the product discharge device 1 to these directions.

[0015] The product unloading device 1 is located near a laser processing machine (not shown). The laser processing machine is a processing machine that cuts a workpiece W placed on a table 20 by irradiating it with a laser beam. The product unloading device 1 is a device that removes the product P separated from the workpiece W by the laser cutting process and unloads the product P.

[0016] The product discharge device 1 comprises a station 10, first and second holding units 30a and 30b, a discharge unit 40, and a control device 60 (not shown in Figure 2).

[0017] Station 10 is positioned adjacent to the laser processing machine. When the laser cutting process by the laser processing machine is completed, the table 20 that supported the workpiece W during the laser cutting process is transported from the laser processing machine to the product unloading device 1. Station 10 supports the table 20 transported from the laser processing machine at a predetermined reference position.

[0018] Station 10 is composed of multiple frames assembled to partition a specific workspace. In the example shown in Figure 2, a pair of bases 11 and a pair of side frames 12, which constitute part of Station 10, are shown. The pair of bases 11 are spaced apart in the left-right direction X and are mounted on a surface such as the floor. Each base 11 consists of a pair of legs spaced apart in the front-rear direction Y and a connecting frame that connects the legs to each other.

[0019] Each of the side frames 12 is a linear frame extending in the left-right direction X. A pair of side frames 12 are fixed on a pair of bases 11, spaced apart in the front-rear direction Y. The pair of side frames 12 function as frames that support the table 20, and also function as rails that guide the table 20 as it is transported from the laser processing machine.

[0020] The table 20 supports the workpiece W. Normally, the table 20 is housed in the laser processing machine, and is transported to the station 10 at the required timing after the laser cutting process by the laser processing machine is completed.

[0021] The table 20 is configured with a rectangular frame 21 that is long in the left-right direction X. On the lower surface side of the frame 21, wheels are provided to allow the table 20 to move on the side frames 12.

[0022] As shown in Figure 2, the frame 21 has multiple skids 22 arranged at regular intervals in the left-right direction X to support the workpiece W. Each skid 22 is composed of a plate-shaped member extending in the front-rear direction Y, and both ends of the skid 22 in the front-rear direction Y are detachably attached to the frame 21. Each skid 22 is upright along the up-down direction Z. Note that in Figure 2, some of the multiple skids 22 arranged on the frame 21 are omitted from the illustration.

[0023] The upper edge of the skid 22 is provided with multiple projections that protrude upward. These projections are arranged at regular intervals in the front-rear direction Y. Each projection has a convex shape that narrows towards the upper end. The workpiece W is supported at the upper edge of the skid 22, i.e., at the vertices of each projection.

[0024] The first and second holding units 30a and 30b have the role of holding down the remaining material S when the unloading unit 40 removes the product P from the table 20. Rails 13 extending in the front-rear direction Y are provided at the left and right ends of the station 10, respectively, straddling a pair of side frames 12. The first and second holding units 30a and 30b are provided above the table 20, straddling the left and right rails 13.

[0025] 3A and 3B are cross-sectional views showing the configuration of the first pressing unit 30a. The first pressing unit 30a is made up of a frame 31a, a pin 32a, a pressing member 33a, and a spring 34a.

[0026] The frame 31a has an H-shaped cross section and extends in the left-right direction X. The length of the frame 31a is set to be approximately the same as or longer than the length of the table 20 in the left-right direction X. The frame 31a has openings that penetrate in the up-down direction Z at equal intervals along the left-right direction X, and pins 32a are inserted into each opening. A flange portion that protrudes radially outward is provided at the top of the pin 32a to prevent the pin 32a from falling off the frame 31a.

[0027] A pressing member 33a is connected to the lower end of each pin 32a, and the pressing member 33a is disposed below the frame 31a via the multiple pins 32a. The pressing member 33a is a plate-shaped member extending in the left-right direction X and has approximately the same length as the frame 31a. A spring 34a is provided for each pin 32a, and the pin 32a is inserted into the hollow portion of the spring 34a. The spring 34a is located between the frame 31a and the pressing member 33a and serves as an elastic member that presses the pressing member 33a downward.

[0028] The first pressing unit 30a includes a first driving unit 38a for moving the first pressing unit 30a in the front-to-rear direction Y and the up-to-down direction Z. The first driving unit 38a includes a servo motor for moving the first pressing unit 30a in the front-to-rear direction Y, an air cylinder for moving the first pressing unit 30a in the up-to-down direction Z, and the like, but is not limited to these.

[0029] The first pressing unit 30a can move in the front-to-rear direction Y along the rail 13 by operating the first drive part 38a. By moving the first pressing unit 30a in the front-to-rear direction Y, the first pressing unit 30a can be positioned at any position on the table 20.

[0030] The first pressing unit 30a can move vertically in the Z direction when the first drive unit 38a is operated. When the first pressing unit 30a moves downward by a certain amount from the initial position shown in Figure 3A, the pressing member 33a abuts against the workpiece W, as shown in Figure 3B. At this time, the spring 34a between the frame 31a and the pressing member 33a compresses, and the pressing member 33a is pressed downward by the elastic force of the spring 34a. By utilizing this pressing force, the first pressing unit 30a can press the workpiece W with a constant force (pressing operation).

[0031] When the first pressing unit 30a moves upward by a certain amount from the state shown in Figure 3B, the pressing member 33a separates from the workpiece W as shown in Figure 1, and the first pressing unit 30a returns to its initial position. In this way, by moving the first pressing unit 30a in the vertical direction, it is possible to switch between a pressing operation that holds the workpiece W and a release operation that releases the workpiece W.

[0032] The configurations of the second pressing unit 30b and the second driving section 38b are similar to the configurations of the first pressing unit 30a and the first driving section 38a.

[0033] 2, the carry-out unit 40 takes out the product P from the table 20 supported by the station 10 and carries the product P to a collection position. A plurality of suction pads (not shown) for adsorbing the product P are provided on the underside of the carry-out unit 40, i.e., the surface facing the table 20.

[0034] 1, the carry-out unit 40 can move in the left-right direction X, the front-back direction Y, and the up-down direction Z. In addition, the carry-out unit 40 can rotate horizontally about a central axis extending in the up-down direction Z.

[0035] 1 is configured by a computer having a hardware processor such as a CPU (Central Processing Unit), a memory, and various interfaces. The memory and various interfaces are connected to the hardware processor via a bus. The hardware processor executes programs stored in the memory to realize various functions of the control device 60.

[0036] The control device 60 controls the discharge unit 40 to remove the product P placed on the table 20 and discharge the product P to a collection position. On the table 20 discharged from the laser processing machine, there are placed the product P that has been separated from the workpiece W by cutting the workpiece W along the contour line of the product P, and a remnant material S that is the remainder of the workpiece W excluding the product P. A pressing protrusion 200 is provided on the remnant material S so as to be adjacent to the product P. Details of the pressing protrusion 200 will be described later. Note that the pressing protrusion 200 shown in FIG. 1 is drawn schematically and differs from the actual shape.

[0037] When carrying out the product P, the carry-out unit 40 moves in the left-right direction X and the front-back direction Y and rotates horizontally under the control of the control device 60 to move above the product P. The carry-out unit 40 uses a suction pad to suck the product P and removes the separated product P from the remnant material S. The carry-out unit 40 carries out the removed product P to a predetermined accumulation position and accumulates it.

[0038] In relation to this embodiment, the control device 60 controls the first and second pressing units 30a and 30b to perform a pressing operation to hold down the remaining material S when the discharge unit 40 removes the product P. During this pressing operation, the control device 60 acquires the position of the product P, the position of the pressing projection 200, and the size of the product P. Based on the position of the product P, the position of the pressing projection 200, and the size of the product P, the control device 60 calculates the pressing position for the first and second pressing units 30a and 30b to hold down the remaining material S. The control device 60 then controls the first and second pressing units 30a and 30b so that they hold down the remaining material S at the pressing position.

[0039] Next, a product carrying-out method according to this embodiment will be described. This product carrying-out method is executed by the product carrying-out device 1. Fig. 4 is a flowchart showing the product carrying-out method. Fig. 5 is an explanatory diagram showing the relationship between the remaining material and the pressing unit. Figs. 6A and 6B are diagrams explaining the pressing operation.

[0040] First, before providing a detailed explanation of the product removal method, we will refer to Figure 5 to explain the relationship between the product P, which is cut by the laser processing machine, and the remaining material S. Assuming that product P may end up under the remaining material S, a method is employed to integrate product P and the remaining material S. One such method involves providing a pressing projection 200 on the remaining material S adjacent to product P. The pressing projection 200 is curved toward the cut surface of product P and plays the role of pressing against the cut surface of product P. Note that in Figure 5, the shape of the pressing projection 200 is schematically depicted and differs from its actual shape.

[0041] The method for forming the pressing projection 200 is as follows. First, a cutting groove corresponding to the pressing projection 200 is processed around the product P by laser cutting. At this time, residual stress exists in the pressing projection 200 due to the thermal effects of the laser cutting. After processing the cutting groove, the contour line Po of the product P is cut by laser cutting. This cutting releases the residual stress present in the pressing projection 200. The free end of the pressing projection 200 curves toward the cut surface side of the product P, and the free end presses against the cut surface (circumferential surface) of the product P. The pressing projection 200, which has curved due to the residual stress, allows the remaining material S to hold the product P in place so that it does not shift.

[0042] Figure 5 illustrates four pressing protrusions 200, but at least one pressing protrusion 200 is required around the product P. Details of the pressing protrusions 200 are disclosed, for example, in Japanese Patent Publication No. 6524368, which should be consulted if necessary.

[0043] In this embodiment, the processing of the flowchart shown in FIG. 4 will be described on the assumption that the product P is held on the remaining material S by the pressing protrusion 200.

[0044] First, in step S10, the control device 60 acquires the position of product P, the external dimensions of product P, and the position of the pressing projection 200. The control device 60 can acquire this information by referring to shape data indicating the shape of product P, nesting data assigning product P to workpiece W, etc. Shape data and nesting data can be acquired from a computer such as an automatic programming device that creates a processing program for cutting workpiece W, or from a laser processing machine, etc.

[0045] In step S11, the control device 60 determines whether the size Ya of the product P in the front-rear direction Y is equal to or greater than a predetermined threshold Yth. The threshold Yth is a determination value used to distinguish whether the product P is large enough to require pressing by both the first and second pressing units 30a, 30b, or small enough to be pressed by only one of the first and second pressing units 30a, 30b. The threshold Yth is, for example, 150 mm.

[0046] If the size Ya of the product P is equal to or greater than the threshold Yth, the control device 60 executes the processes from step S12 to step S14, and performs the pressing operation with both the first and second pressing units 30a, 30b. On the other hand, if the size Ya of the product P is smaller than the threshold Yth, the control device 60 executes the processes from step S15 to step S17, and performs the pressing operation with one of the first and second pressing units 30a, 30b.

[0047] In step S12, the control device 60 drives the device drive section 45a to position the discharge unit 40 at the take-out position. The take-out position is determined based on the position of the product P to be taken out.

[0048] In step S13, the control device 60 drives the first and second drive units 38a to position the first and second pressing units 30a, 30b at the pressing positions. The pressing positions are determined based on the position of the product P to be removed, the size of the product P, and the position of the pressing protrusion 200.

[0049] As shown in Figure 5, the control device 60 sets a rectangular frame Ot with the minimum area to surround the product P and the pressing protrusion 200 adjacent to the product P, based on the position of the product P, the size of the product P, and the position of the pressing protrusion 200. The control device 60 then determines the pressing position based on the sides 103 and 104 that extend in the left-right direction X, out of the four sides 101, 102, 103, and 104 that make up the rectangular frame Ot. Specifically, the control device 60 determines the pressing positions of the first and second pressing units 30a and 30b, respectively, so that the first and second pressing units 30a and 30b are adjacent to the outside of sides 103 and 104.

[0050] Furthermore, depending on the orientation of the product P cut onto the workpiece W, it is possible that the sides 103 and 104 constituting the rectangular frame Ot may not coincide with the left-right direction X. However, when cutting the product P and the pressing protrusion 200 onto the workpiece W, it is possible to align the contour line Po of the product P and the pressing protrusion 200 along the left-right direction X. Therefore, by adjusting the cutting in advance, the pressing position can be determined as described above.

[0051] In step S14, the control device 60 drives the first and second drive units 38a to lower the first and second pressing units 30a and 30b by a certain amount. As a result, the remaining material S is pressed down with a constant force by the first and second pressing units 30a and 30b, as shown in Figure 6A (pressing operation). Note that the pressing projection 200 is not shown in Figure 6A.

[0052] In response to this, in step S15, the device driver 45a is driven to position the discharge unit 40 at the removal position. In step S16, the control device 60 drives one of the first and second drivers 38a and 38b to position one of the first and second presser units 30a and 30b at the presser position. Then, in step S17, the control device 60 drives one of the first and second drivers 38a and 38b to lower one of the first and second presser units 30a and 30b by a fixed amount. As a result, as shown in FIG. 6B, one of the first and second presser units 30a and 30b presses down the remaining material S with a fixed force (presser operation). Note that FIG. 6B depicts a state in which only the first presser unit 30a performs the presser operation, and the presser protrusion 200 is also omitted.

[0053] The method for determining the take-out position in step S16 is the same as the method for determining the take-out position in step S13. In addition, the pressing unit that performs the pressing operation in steps S16 and S17 can be selected from the first and second pressing units 30a and 30b, for example, whichever is closer to the product P.

[0054] In step S18, the control device 60 determines whether or not the positioning of the unloading unit 40 is complete. If the positioning of the unloading unit 40 is complete, the control device 60 performs the process of step S19. On the other hand, if the positioning of the unloading unit 40 is not complete, the control device 60 performs the process of step S18 again.

[0055] In step S19, the control device 60 starts the suction operation of the carry-out unit 40, and the carry-out unit 40 takes out the product P. Then, in step S20, the control device 60 controls the carry-out unit 40 to take out the taken-out product P to a predetermined accumulation position (accumulation operation).

[0056] The control device 60 performs this series of processes for each product P cut from the workpiece W. When all the products P cut from the workpiece W have been unloaded, the processing for that workpiece W is terminated.

[0057] As described above, with the product discharge device 1 of this embodiment, the product P separated from the workpiece W is held in place by the pressing protrusion 200 on the remaining material S. This prevents the product P from getting stuck under the remaining material S. On the other hand, because the product P is pressed by the pressing protrusion 200, it may be lifted up together with the remaining material S during product discharge, making it difficult to remove the product P from the remaining material S. In this regard, the control device 60 calculates the pressing position based on the position of the product P, the position of the pressing protrusion 200, and the size of the product P. As a result, the first and second pressing units 30a and 30b can press down on the remaining material S while taking into account the position of the pressing protrusion 200, so that the discharge unit 40 can easily remove the product P. Therefore, it is possible to suppress the product P getting stuck while enabling smooth removal of the product P by the product discharge device 1.

[0058] Furthermore, in this embodiment, the first and second pressing units 30a and 30b include drive units 38a and 38b that move the first and second pressing units 30a and 30b parallel to the table 20 and move the first and second pressing units 30a and 30b in the vertical direction. These first and second pressing units 30a and 30b are provided on the station 10 so as to straddle the top of the table 20.

[0059] This configuration allows the station 10 to have the function of holding down the remaining material S. By simply adding the first and second holding units 30a and 30b to the existing station 10 configuration, it becomes possible to hold down the remaining material S. Furthermore, since the first and second holding units 30a and 30b are driven separately from the discharge unit 40, there is no limitation on the holding position due to the posture of the discharge unit 40, and there is the advantage that the holding units 30a and 30b can be controlled appropriately.

[0060] In this embodiment, the first pressing unit 30a includes a frame 31a extending linearly, a pressing member 33a attached below the frame 31a so as to be vertically movable and pressing down the remaining material S, and a spring 34a (an example of an elastic member) that presses the pressing member 33a downward. The second pressing unit 30b has the same structure as the first pressing unit 30a.

[0061] According to this configuration, the pressing force of the spring 34a is applied to the remnant material S. Therefore, a pressing force according to the thickness of the remnant material S is applied, and the necessary pressing force can be secured for each thickness of the workpiece W. That is, the thicker the workpiece W, the more the spring 34a bends, and the pressing force on the remnant material S can be increased. Furthermore, if the pressing member 33a is arranged parallel to the skids 22, a pressing action occurs between adjacent skids 22, which may cause bending of the remnant material S. However, because the pressing member 33a is arranged in a direction perpendicular to the skids 22, bending of the remnant material S can be suppressed, and the remnant material S can be properly pressed.

[0062] (Second embodiment) The following describes a product unloading device and product unloading method according to a second embodiment. Figure 7 is a block diagram showing the configuration of the product unloading device according to the second embodiment. Figure 8 is an explanatory diagram showing the configuration of the unloading unit according to the second embodiment. Figure 9 is an explanatory diagram showing the configuration of the lower side of the unloading unit.

[0063] In the product discharge device 1 according to the second embodiment, the first and second pressing units 70a and 70b are mounted on the discharge unit 40. Similar to the first and second pressing units 30a and 30b in the first embodiment, the first and second pressing units 70a and 70b have the role of holding down the remaining material S when the discharge unit 40 removes the product P.

[0064] First, the unloading unit 40 will be described. The structure and function of the unloading unit 40 are the same as those of the unloading unit 40 in the first embodiment, but the description will focus on the parts that are relevant to the second embodiment. As shown in Figures 8 and 9, the unloading unit 40 includes a first unloading arm 41a, a second unloading arm 41b, and a third unloading arm 41c.

[0065] The first unloading arm 41a is the largest unloading arm among the three unloading arms 41a, 41b, and 41c. The second and third unloading arms 41b and 41c are positioned on either side of the first unloading arm 41a. The first unloading arm 41a and the second and third unloading arms 41b and 41c are connected by an extendable and retractable rod 42.

[0066] The first, second, and third discharge arms 41a, 41b, and 41c are equipped with a plurality of suction pads 43a, 43b, and 43c for adsorbing the product P. The plurality of suction pads 43a, 43b, and 43c are provided on the lower surfaces of the first, second, and third discharge arms 41a, 41b, and 41c, i.e., on the surfaces facing the workpiece W. A suction cup portion is provided at the tip of each individual suction pad 43a, 43b, and 43c, and a pump that generates negative pressure is connected to the suction cup portion via an air passage. These suction pads 43a, 43b, and 43c can be moved in the vertical direction Z by the operation of a drive mechanism such as an air cylinder.

[0067] The suction pads 43a, 43b, and 43c include a suction pad 43a with a large-diameter suction cup portion, a suction pad 43b with a smaller-diameter suction cup portion than the suction pad 43a, and a suction pad 43c consisting of multiple small-diameter suction cup portions whose suction on / off functions are synchronously controlled.

[0068] The unloading unit 40 can move in the left-right direction X, the front-back direction Y, and the up-down direction Z as the device drive unit 45a operates. The unloading unit 40 can also rotate horizontally around a central axis Cn that extends in the vertical direction as the device drive unit 45a operates. In the following description, the rotation angle when the extension and retraction directions of the second and third unloading arms 41b and 41c are parallel to the left-right direction X is defined as the reference state (0°) of the unloading unit 40.

[0069] The telescopic rod 42 can be extended and retracted by the operation of the device drive unit 45a. When the telescopic rod 42 is in its most retracted state, the second and third discharge arms 41b and 41c are adjacent to the side of the first discharge arm 41a, i.e., in a closed state. On the other hand, when the telescopic rod 42 is in its most extended state, the second and third discharge arms 41b and 41c are separated from the first discharge arm 41a by a predetermined distance, i.e., in an open state.

[0070] When product P is unloaded, the first, second, and third unloading arms 41a, 41b, and 41c move in the forward / backward direction Y and the left / right direction X, or rotate horizontally, under the control of the control device 60, so that the first, second, and third unloading arms 41a, 41b, and 41c are positioned above product P. In addition, the telescopic rod 42 extends and retracts according to the size of product P, so that the second and third unloading arms 41b and 41c can be opened and closed relative to the first unloading arm 41a.

[0071] When the first, second, and third unloading arms 41a, 41b, and 41c are positioned above the product P, the suction pads 43a, 43b, and 43c that will hold the product P are lowered and sucked up. Then, the first, second, and third unloading arms 41a, 41b, and 41c are moved downward in accordance with the plate thickness until the suction pad reaches the top surface of the workpiece and stops. Once the target suction pad reaches the product P, it can hold the product P. Then, the unloading unit 40 moves upward a certain amount from the workpiece W to take out the product P, and then unloads the product P to a predetermined stacking position and stacks the product P.

[0072] Next, the first and second pressing units 70a, 70b will be described. The first and second pressing units 70a, 70b are spaced apart by a fixed distance. Since the first and second pressing units 70a, 70b have the same structure, the following description will focus on the first pressing unit 70a.

[0073] 9, the first pressing unit 70a is mounted on the lower surface of the unloading unit 40, specifically on the lower surface of the first unloading arm 41a. In the following description, it is assumed that the rotation angle of the unloading unit 40 is 0°.

[0074] The first pressing unit 70a is equipped with a first pressing member 73a for pressing down the remaining material S. The first pressing member 73a is a plate-shaped member extending in the left-right direction X. A pair of guide rails 75 extending in the front-rear direction Y is provided on the underside of the first discharge arm 41a. The first pressing unit 70a can move in the front-rear direction Y along the pair of guide rails 75.

[0075] 7, the first pressing unit 70a includes a first driving part 78a for moving the first pressing member 73a in the front-rear direction Y and the up-down direction Z. The first driving part 78a includes an electric cylinder for moving the first pressing member 73a in the front-rear direction Y, an air cylinder for moving the first pressing member 73a in the up-down direction Z, and the like, but is not limited to these.

[0076] The first pressing member 73a can move in the front-to-rear direction Y along the pair of guide rails 75 by operating the first driving unit 78a. By moving the first pressing member 73a in the front-to-rear direction Y, the first pressing member 73a can be positioned at any position on the workpiece W.

[0077] Furthermore, the first pressing member 73a can move in the vertical direction Z by operating the first drive unit 78a. When the first pressing member 73a moves downward by a certain amount, the first pressing member 73a abuts against the workpiece W. This allows the first pressing member 73a to press down the workpiece W with a certain force (pressing operation).

[0078] On the other hand, when the first pressing member 73a moves upward by a predetermined amount, the first pressing member 73a moves away from the workpiece W. In this way, by moving the first pressing member 73a in the vertical direction, it is possible to switch between a pressing operation in which the workpiece W is pressed down and a release operation in which the pressing of the workpiece W is released.

[0079] Next, a method for carrying out the product P according to this embodiment will be described. Fig. 10 is a flowchart showing the product carrying out method. Fig. 11 is an explanatory diagram showing the relationship between the remaining material and the pressing unit. Figs. 12A, 12B, and 12C are diagrams explaining the pressing operation. Note that Figs. 12A, 12B, and 12C simply depict the first and second pressing members 73a and 73b, and representatively depict only the target suction pad 43a among the multiple suction pads 43a, 43b, and 43c.

[0080] 10 is executed by the product discharge device 1. The processes of steps S30, S31, and S32 are the same as the processes of steps S10, S11, and S12 in the first embodiment.

[0081] In step S33, the control device 60 drives the first and second drive units 78a and 78b to position the first and second pressing members 73a and 73b at the pressing positions. The pressing positions are determined based on the position of the product P to be removed, the size of the product P, and the position of the pressing protrusion 200.

[0082] As shown in Figure 11, the control device 60 sets a minimum rectangular frame Ot that surrounds product P and the pressing protrusion 200 adjacent to product P, based on the position of product P, the size of product P, and the position of the pressing protrusion 200. Then, the control device 60 determines the pressing position based on sides 103 and 104, of the four sides 101, 102, 103, and 104 that make up the rectangular frame Ot, where the pressing protrusion 200 is located. At this time, the control device 60 also considers the rotation angle of the unloading unit 40 when removing product P when determining the pressing position. Specifically, the control device 60 determines the pressing positions such that the first and second pressing members 73a and 73b are adjacent to the outside of sides 103 and 104, respectively.

[0083] When the first and second pressing members 73a and 73b are positioned in the pressing position, the control device 60 drives the first and second air cylinders 78a1 and 78b1 included in the first and second drive units 78a and 78b to lower the first and second pressing members 73a and 73b by a certain amount. As shown in Figure 12A, the remaining material S is pressed down with a constant force by the first and second pressing members 73a and 73b (pressing operation).

[0084] The processing in steps S34 and S35 involves performing a pressing operation using one of the first and second pressing members 73a and 73b, and the details of the processing are the same as those of steps S32 and S33.

[0085] In step S36, the control device 60 determines whether or not the positioning of the unloading unit 40 is complete. If the positioning of the unloading unit 40 is complete, the control device 60 performs the process of step S37. On the other hand, if the positioning of the unloading unit 40 is not complete, the control device 60 performs the process of step S36 again.

[0086] In step S37, the control device 60 starts the suction operation. Specifically, the control device 60 lowers the first, second, and third discharge arms 41a, 41b, and 41c by a certain amount. Then, the control device 60 lowers the target suction pad 43a so that the suction cup reaches the product P. Once the product P is attracted by the target suction pad 43a, the control device 60 raises the first, second, and third discharge arms 41a, 41b, and 41c by a certain amount.

[0087] The maximum stroke ST of the first and second air cylinders 78a1 and 78b1 is set to be sufficiently large compared to the downward stroke during the pressing operation. Here, the downward stroke during the pressing operation refers to the stroke required to lower the target suction pad from the first, second and third discharge arms 41a, 41b, and 41c until the target suction pad reaches the product P.

[0088] Even when the first, second, and third discharge arms 41a, 41b, and 41c rise, the first and second pressing members 73a and 73b continue to hold down the remaining material S until the stroke amount of the first and second air cylinders 78a1 and 78b1 reaches the maximum stroke ST. Since the maximum stroke ST is set to be sufficiently large, as shown in Figure 12B, the first and second pressing members 73a and 73b can continue to hold down the remaining material S until the target suction pad 43a has finished removing the product P from the remaining material S.

[0089] 12C, when the stroke amounts of the air cylinders 78a1, 78b1 reach the maximum stroke ST, the first and second pressing members 73a, 73b rise together with the carry-out unit 40. This allows the pressing of the remainder material S to be released.

[0090] In step S38, the control device 60 controls the discharge unit 40 to discharge the retrieved product P to a predetermined accumulation position (accumulation operation).

[0091] The control device 60 performs this series of processes for each product P cut from the workpiece W. When all the products P cut from the workpiece W have been unloaded, the processing for that workpiece W is terminated.

[0092] Thus, in this embodiment, the discharge unit 40 includes discharge arms 41a, 41b, 41c, each having a plurality of suction pads 43a, 43b, 43c for adsorbing the product P, positioned opposite the table 20, and a device drive unit 45a for moving the discharge arms 41a, 41b, 41c above the table 20. The first and second pressing units 70a, 70b include pressing members 73a, 73b provided on the lower surfaces of the discharge arms 41a, 41b, 41c for holding down the remaining material S, and first and second drive units 78a, 78b for moving the first and second pressing members 73a, 73b parallel to the lower surfaces of the discharge arms 41a, 41b, 41c, and for moving the first and second pressing members 73a, 73b in the vertical direction.

[0093] This configuration allows the unloading unit 40 to have a function to hold down the remaining material S. As a result, it is only necessary to add the holding units 70a and 70b to the existing unloading unit 40, so the holding operation can be achieved with a relatively inexpensive configuration. In addition, the holding units 70a and 70b follow the unloading position of the unloading unit 40. Even if the product P is cut in a tilted position, the sides 103 and 104 where the pressing protrusions 200 are located can be kept parallel to the first and second holding members 73a and 73b.

[0094] In this embodiment, the first and second drive units 78a and 78b include first and second air cylinders 78a1 and 78b1 that move the first and second pressing members 73a and 73b in the vertical direction. The maximum stroke ST of the first and second air cylinders 78a1 and 78b1 is set to be greater than the stroke required to move the suction pads 43a, 43b, and 43c downward from the discharge unit 40 until the suction pads 43a, 43b, and 43c reach the remaining material S.

[0095] In this embodiment, the first and second pressing units 70a and 70b move up and down in conjunction with the vertical movement of the unloading unit 40. However, since the maximum stroke of the first and second air cylinders 78a1 and 78b1 is sufficiently large, the first and second pressing members 73a and 73b can continue to hold down the remaining material S when removing the product P from the remaining material S. Furthermore, by using the first and second air cylinders 78a1 and 78b1, the necessary pressing force can be secured for each plate thickness.

[0096] Figures 13A and 13B show modified examples of the second embodiment. In the second embodiment, dedicated components called first and second pressing units 70a and 70b are mounted on the discharge unit 40. However, the pressing operation on the remaining material S may be performed using the suction pads 43a, 43b, and 43c provided by the discharge unit 40, without mounting the first and second pressing units 70a and 70b on the discharge unit 40. Figures 13A and 13B schematically show a state in which the remaining material S is pressed using the suction pads 43a2 surrounding the target suction pad 43a1.

[0097] Referring to Figure 14, the pressing action using suction pads will be explained. Figure 14 is an explanatory diagram showing the relationship between the remaining material and the suction pads. Figure 14 shows the state in which the remaining material S is pressed down using suction pads 43b2 and 43c2 surrounding the target suction pads 43b1 and 43c1. In Figure 14, the target suction pads 43b1 and 43c1 are shown with hatched lines, and the suction pads 43b2 and 43c2 that press down on the remaining material S are shown with hatched dots.

[0098] Specifically, the control device 60 sets a rectangular frame Ot with the minimum area that surrounds the product P and the pressing protrusion 200 adjacent to the product P, based on the position of the product P, the size of the product P, and the position of the pressing protrusion 200. Then, of the four sides 101, 102, 103, and 104 that make up the rectangular frame Ot, the control device 60 identifies the sides 103 and 104 on which the pressing protrusion 200 is located. In addition, the control device 60 determines the suction pads 43b2 and 43c2 that will press the remnant material S outside the sides 103 and 104, based on the positions of the target suction pads 43b1 and 43c1 and the positions of the suction pads 43a, 43b, and 43c surrounding them.

[0099] Thus, the carry-out unit 40 includes carry-out arms 41a, 41b, 41c on which a plurality of suction pads 43a, 43b, 43c that adsorb the product P are arranged to face the table 20, and a device drive unit 45a that moves the carry-out arms 41a, 41b, 41c above the table 20. The pressing unit is made up of suction pads 43a2, 43b2, 43c2 that are arranged around target suction pads 43a1, 43b1, 43c1 that adsorb the product P, out of the plurality of suction pads 43a, 43b, 43c.

[0100] According to this configuration, the pressing operation can be realized without changing the configuration of the carry-out unit 40.

[0101] Furthermore, one aspect of this embodiment also includes the above-described product delivery method. That is, when the delivery unit 40 that delivers the product P takes out the product P separated from the workpiece W, the control device 60 that controls the first and second pressing units 30a, 30b that press down the remaining material S acquires the position of the product P, the position of the pressing protrusion 200, and the size of the product P, and based on this information, calculates the pressing positions at which the first and second pressing units 30a, 30b press down the remaining material S, and controls the first and second pressing units 30a, 30b to press down the remaining material S at the pressing positions.

[0102] Although the embodiments of the present invention have been described above, the descriptions and drawings that form part of this disclosure should not be understood to limit the present invention. Various alternative embodiments, examples, and operating techniques will become apparent to those skilled in the art from this disclosure. [Explanation of symbols]

[0103] 1 Product unloading device 10 Stations 11 Foundation 12 Side frame 13 Rail 20 tables 21 Frame 22 Skid 30a First Pressing Unit (Pressing Unit) 30b Second Pressing Unit (Pressing Unit) 31a frame 32a pin 33a holding member 34a Spring 38a First drive unit (drive unit) 38b Second drive unit (drive unit) 40 Unloading unit 41a First carrying-out arm 41b Second carry-out arm 41c Third Loading Arm 42 Telescopic Rod 43a Suction pad 43b Suction pad 43c Suction pad 43a1, 43b1, 43c1 Suction pads (suction pads that hold products in place) 43a2, 43b2, 43c2 Adhesive pads (adhesive pads to hold down residual material) 45a Device drive unit 60 Control device 70a First Pressing Unit (Pressing Unit) 70b Second Pressing Unit (Pressing Unit) 73a First holding member (holding member) 73b Second holding member (holding member) 75 guide rail 78a First drive unit 78a1 Air Cylinder 78b Second drive unit 78b1 Air cylinder ST Maximum stroke 200 Pressing protrusion Cn center axis Ot Rectangular Frame Sides 101, 102, 103, and 104 double work P product Po Contour S leftover material X Left / right direction Y forward / backward direction Z vertical direction Ya Product Size Yth threshold

Claims

1. A station that supports the table transported from a laser processing machine that cuts a workpiece by irradiating the workpiece with a laser beam placed on the table, a carrying-out unit that carries out the product from the table supported by the station to a stacking position, the table carrying the product separated from the workpiece by cutting the workpiece along the contour line of the product and a remaining material having a pressing protrusion that is curved toward the cut surface of the product and presses the cut surface of the product and is provided adjacent to the product; a pressing unit that presses down the remaining material; a control device for controlling the pressing unit, The control device Acquire the position of the product, the position of the pressing protrusion, and the size of the product; Based on the position of the product, the position of the pressing protrusion, and the size of the product, the pressing unit calculates the pressing position in which it presses the remaining material. When the discharge unit removes the product, the pressing unit is controlled to hold the remaining material in place at the pressing position. Product unloading device.

2. The pressing unit is a drive unit that moves the pressing unit parallel to the table and moves the pressing unit in a vertical direction; The station is provided with a table. The product delivery device according to claim 1.

3. The pressing unit is a frame extending linearly; a pressing member attached below the frame so as to be movable up and down and configured to press down the remaining material; an elastic member that presses the pressing member downward 3. The product delivery device according to claim 2.

4. The carrying-out unit is a carry-out arm having a plurality of suction pads that adsorb the products and are provided facing the table; a device drive unit that moves the carry-out arm above the table, The pressing unit is a pressing member provided on a lower surface of the carrying-out arm and configured to press down the remaining material; a drive unit that moves the pressing member in parallel with the lower surface of the carry-out arm and moves the pressing member in the up and down direction. The product delivery device according to claim 1.

5. the drive unit includes an air cylinder that moves the pressing member in a vertical direction, The maximum stroke of the air cylinder is set to be greater than the stroke required to move the suction pad downward from the discharge unit until the suction pad reaches the product.

5. The product delivery device according to claim 4.

6. The carrying-out unit is a carry-out arm having a plurality of suction pads that adsorb the products and are provided facing the table; a device drive unit that moves the carry-out arm above the table, The pressing unit is Among the plurality of suction pads, the suction pads are arranged around the target suction pad that is the target for suction of the product. The product delivery device according to claim 1.

7. The laser processing machine, which irradiates a workpiece placed on the table with a laser beam to cut the workpiece along its contour, transports the workpiece to the station, and the table on which the separated product and the remaining material are placed have pressing protrusions adjacent to the product that curve toward the cut surface side of the product and press against the cut surface of the product. When the delivery unit that delivers the product takes out the product separated from the workpiece, A control device for controlling a pressing unit that presses down the remaining material, Acquire the position of the product, the position of the pressing protrusion, and the size of the product; Based on the position of the product, the position of the pressing protrusion, and the size of the product, the pressing unit calculates the pressing position in which it presses the remaining material. A pressing unit that presses the remaining material is controlled so as to press the remaining material at the pressing position. How to transport the product.

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